这次试验主要实现以平面和标记物进行姿态估计以及增强现实的应用。
一、以平面和标记物进行姿态估计
(1)下面演示的是一个简单例子:如何在一副图像上放置一个立方体,原图如下:
(2)先提取两幅JPG图像的SIFT特征,然后使用RANSAC算法稳健地估计单应性矩阵,这两个算法前面的博文都有介绍,代码参考《python计算机视觉编程》,按如下运行一般不会有什么问题。
代码:
# -*- coding: utf-8 -*-
from pylab import *
from PIL import Image
# If you have PCV installed, these imports should work
from PCV.geometry import homography, camera
from PCV.localdescriptors import sift
"""
This is the augmented reality and pose estimation cube example from Section 4.3.
"""
def cube_points(c, wid):
""" 创建用于绘制立方体的一个点列表(前5个点是底部的正方形,一些边重合了) """
p = []
# bottom
p.append([c[0]-wid, c[1]-wid, c[2]-wid])
p.append([c[0]-wid, c[1]+wid, c[2]-wid])
p.append([c[0]+wid, c[1]+wid, c[2]-wid])
p.append([c[0]+wid, c[1]-wid, c[2]-wid])
p.append([c[0]-wid, c[1]-wid, c[2]-wid]) #same as first to close plot
# top
p.append([c[0]-wid, c[1]-wid, c[2]+wid])
p.append([c[0]-wid, c[1]+wid, c[2]+wid])
p.append([c[0]+wid, c[1]+wid, c[2]+wid])
p.append([c[0]+wid, c[1]-wid, c[2]+wid])
p.append([c[0]-wid, c[1]-wid, c[2]+wid]) #same as first to close plot
# vertical sides
p.append([c[0]-wid, c[1]-wid, c[2]+wid])
p.append([c[0]-wid, c[1]+wid, c[2]+wid])
p.append([c[0]-wid, c[1]+wid, c[2]-wid])
p.append([c[0]+wid, c[1]+wid, c[2]-wid])
p.append([c[0]+wid, c[1]+wid, c[2]+wid])
p.append([c[0]+wid, c[1]-wid, c[2]+wid])
p.append([c[0]+wid, c[1]-wid, c[2]-wid])
return array(p).T
def my_calibration(sz):
"""根据自己图像的分辨率修改这个函数中的数值"""
"""
Calibration function for the camera (iPhone4) used in this example.
"""
row, col = sz
fx = 2555*col/2592
fy = 2586*row/1936
K = diag([fx, fy, 1])
K[0, 2] = 0.5*col
K[1, 2] = 0.5*row
return K
#计算特征
sift.process_image('image4/book_frontal.JPG', 'im0.sift')
l0, d0 = sift.read_features_from_file('im0.sift')
sift.process_image('image4/book_perspective.JPG', 'im1.sift')
l1, d1 = sift.read_features_from_file('im1.sift')
# 匹配特征,并计算单应性矩阵
matches = sift.match_twosided(d0, d1)
ndx = matches.nonzero()[0]
fp = homography.make_ho